Work machine and management device

Abstract

To provide a work machine and a management device that can present a risk of local deterioration of an actuator in the work machine.SOLUTION: A work machine comprises: a boom cylinder 9 that drives a work device 4; a boom angle sensor 16 that detects a rotation angle of a boom 6 that changes depending on a stroke position of the boom cylinder 9; a controller 20 that divides a stroke range 24 of the boom cylinder 9 into a plurality of stroke sections 25A, 25B, 25B and calculates operation times of the boom cylinder 9 in each of the plurality of stroke sections 25A, 25B, 25B based on detection results of the boom angle sensor 16, to calculate a risk of local deterioration of each of the plurality of stroke sections 25A, 25B, 25B of the stroke range 24 of the boom cylinder 9; and a display 19 that displays the risk of local deterioration of the boom cylinder 9 that has been calculated by the controller 20.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a working machine and a management device.

Background Art

[0002] Patent Document 1 discloses a system including an excavator (working machine) and a remote operation device for remotely operating the excavator. The excavator includes a load detection unit (for example, a plurality of pressure sensors) that detects the load of a plurality of hydraulic cylinders that drive a working device. The remote operation device includes an information output device and a control device that controls the output of the information output device according to the load detected by the load detection unit of the excavator. Thereby, the load of the working device of the excavator is presented to the operator.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, in an actuator such as a hydraulic cylinder, its movable range is not evenly used, and there are cases where some movable intervals are concentratedly used. For example, in the case of a hydraulic cylinder, it is a case where it is used for a long time only in a part of the stroke range on the base end side among the entire stroke range of the cylinder rod. In that case, there is a possibility that deterioration such as wear occurs locally. And, even if the operation time of the actuator does not reach the maintenance time or the service life time set assuming that the movable range is evenly used, it may cause a deterioration in the performance of the actuator. For these reasons, there is a need to evaluate the deterioration including the local deterioration risk of the actuator.

[0005] An object of the present invention is to provide a work machine and a management device that can present a risk of local deterioration of an actuator of the work machine.

Means for Solving the Problems

[0006] To achieve the above object, the present invention includes an actuator that drives a work device by an operation within a movable range, a displacement sensor that detects a position of the actuator within the movable range, divides the movable range of the actuator into a plurality of movable sections, and based on a detection result of the displacement sensor, calculates an operation time of the actuator in each of the plurality of movable sections, thereby calculating a local deterioration risk for each of the plurality of movable sections of the actuator, and a display that displays the local deterioration risk of the actuator calculated by the controller.

Effects of the Invention

[0007] According to the present invention, it is possible to present a risk of local deterioration of an actuator of a work machine.

Brief Description of the Drawings

[0008]

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Figure 2

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Figure 18

Embodiments for Carrying Out the Invention

[0009] Taking a hydraulic excavator as an example of a work machine to which the present invention is applied, the first embodiment of the present invention will be described with reference to the drawings.

[0010] FIG. 1 is a side view showing the structure of the hydraulic excavator in the present embodiment. In addition, the front side (right side in FIG. 1), the rear side (left side in FIG. 1), the left side (the back side with respect to the paper surface of FIG. 1), and the right side (the front side with respect to the paper surface of FIG. 1) of the driver sitting on the driver's seat in the cab of the hydraulic excavator are simply referred to as the front side, the rear side, the left side, and the right side.

[0011] The excavator 1 of this embodiment includes a lower traveling body 2 capable of traveling, an upper revolving body 3 rotatably provided above the lower traveling body 2, and a working device 4 connected to the upper revolving body 3. The lower traveling body 2 travels by left and right traveling devices (specifically, those composed of crawlers, traveling motors, etc.), and the upper revolving body 3 rotates by a slewing device 5 (specifically, those composed of slewing rings, slewing motors, etc. Refer to FIGS. 11 and 12 described later).

[0012] The working device 4 includes a boom 6 rotatably connected to the upper revolving body 3, an arm 7 rotatably connected to the tip of the boom 6, and a bucket 8 rotatably connected to the tip of the arm 7. The boom 6 rotates by the expansion and contraction (in other words, stroke) of a boom cylinder 9 (hydraulic cylinder), the arm 7 rotates by the expansion and contraction (in other words, stroke) of an arm cylinder 10 (hydraulic cylinder), and the bucket 8 rotates by the expansion and contraction (in other words, stroke) of a bucket cylinder 11 (hydraulic cylinder).

[0013] The upper revolving body 3 includes a slewing frame 12 forming a lower basic structure, a driver's cab 13 provided on the front left side of the slewing frame 12, and a machine room 14 provided on the part of the slewing frame 12 other than the driver's cab 13. The machine room 14 is provided with an engine (not shown), a hydraulic pump 15 driven by the engine (refer to FIG. 6 described later), and a plurality of direction control valves (not shown) that respectively control the flow of pressure oil from the hydraulic pump 15 to a plurality of hydraulic actuators (specifically, the above-described traveling motor, slewing motor, boom cylinder 9, arm cylinder 10, and bucket cylinder 11). The driver's cab 13 is provided with a driver's seat (not shown) on which the driver sits and a plurality of operating devices (not shown) operated by the driver to operate the plurality of direction control valves.

[0014] The excavator 1 of this embodiment is equipped with a local deterioration risk evaluation device that evaluates the local deterioration risks of the boom cylinder 9, the arm cylinder 10, and the bucket cylinder 11. FIG. 2 is a block diagram showing the configuration of the local deterioration risk evaluation device in this embodiment.

[0015] The local deterioration risk assessment device according to this embodiment includes a boom angle sensor 16 that detects the rotation angle (state quantity) of the boom 6 with respect to the upper swing body 3, which changes according to the stroke position (movable position) of the boom cylinder 9, an arm angle sensor 17 that detects the rotation angle (state quantity) of the arm 7 with respect to the boom 6, which changes according to the stroke position (movable position) of the arm cylinder 10, a bucket angle sensor 18 that detects the rotation angle (state quantity) of the bucket 8 with respect to the arm 7, which changes according to the stroke position (movable position) of the bucket cylinder 11, a display 19 (monitor) disposed in the cab 13, and a controller 20.

[0016] Note that the boom cylinder 9, the arm cylinder 10, and the bucket cylinder 11 correspond to actuators that drive the work device by operating within the movable range described in the claims. The boom angle sensor 16, the arm angle sensor 17, and the bucket angle sensor 18 correspond to displacement sensors that detect positions within the movable range of the actuators described in the claims.

[0017] The controller 20 has, although not shown, a processor that executes processing and control according to a program, and a memory that stores programs and data. The controller 20 functionally includes a position calculation unit 21, a local deterioration risk calculation unit 22, and an image generation unit 23.

[0018] The controller 20 stores in advance a plurality of stroke sections (movable sections) 25A, 25B, 25C (see FIG. 3) into which the stroke range (movable range) 24 of the boom cylinder 9 is divided, a plurality of stroke sections (movable sections) 27A, 27B, 27C (see FIG. 3) into which the stroke range (movable range) 26 of the arm cylinder 10 is divided, and a plurality of stroke sections (movable sections) 29A, 29B, 29C into which the stroke range (movable range) 28 of the bucket cylinder 11 is divided.

[0019] The position calculation unit 21 of the controller 20 calculates the stroke position of the boom cylinder 9 (specifically, the movable position of the piston based on the bottom end of the cylinder) at a predetermined time interval (for example, every few hundred milliseconds) based on the rotation angle of the boom 6 detected by the boom angle sensor 16. The local deterioration risk calculation unit 22 of the controller 20 determines which of the plurality of stroke sections 25A, 25B, 25C the stroke position of the boom cylinder 9 is in, and uses a timer to accumulate the operating time of the boom cylinder 9 in each of the stroke sections 25A, 25B, 25C, and obtains the accumulated value as the local deterioration risk.

[0020] The position calculation unit 21 of the controller 20 calculates the stroke position of the arm cylinder 10 at a predetermined time interval based on the rotation angle of the arm 7 detected by the arm angle sensor 17. The local deterioration risk calculation unit 22 of the controller 20 determines which of the plurality of stroke sections 27A, 27B, 27C the stroke position of the arm cylinder 10 is in, and uses a timer to accumulate the operating time of the arm cylinder 10 in each of the stroke sections 27A, 27B, 27C, and obtains the accumulated value as the local deterioration risk.

[0021] The position calculation unit 21 of the controller 20 calculates the stroke position of the bucket cylinder 11 at a predetermined time interval based on the rotation angle of the bucket 8 detected by the bucket angle sensor 18. The local deterioration risk calculation unit 22 of the controller 20 determines which of the plurality of stroke sections 29A, 29B, 29C the stroke position of the bucket cylinder 11 is in, and uses a timer to accumulate the operating time of the bucket cylinder 11 in each of the stroke sections 29A, 29B, 29C, and obtains the accumulated value as the local deterioration risk.

[0022] The image generation unit 23 of the controller 20 generates an image 30 (see FIG. 3) of the working device of the excavator in response to an input from an input device such as a switch (not shown) or periodically (for example, every day), and causes the display 19 to display it. The image 30 schematically shows the stroke sections 25A, 25B, 25C of the boom cylinder 9, the stroke sections 27A, 27B, 27C of the arm cylinder 10, and the stroke sections 29A, 29B, 29C of the bucket cylinder 11 in the working device 4 of the excavator 1, and shows the local deterioration risk in each stroke section in terms of hue, lightness, or saturation.

[0023] As described above, in this embodiment, the local deterioration risks of the boom cylinder 9, the arm cylinder 10, and the bucket cylinder 11 can be presented to the driver. Thereby, the driver can plan the maintenance timing of the boom cylinder 9, the arm cylinder 10, and the bucket cylinder 11. In addition, the driver can consider the usage methods of the boom cylinder 9, the arm cylinder 10, and the bucket cylinder 11. That is, for example, the driver can consider changing the working location of the excavator 1 at a mine or the like.

[0024] In the first embodiment, the controller 20 has been described by taking as an example the case where, as a calculation result, an image 30 of the working device of the excavator is generated and displayed on the display 19, but it is not limited to this. The controller 20 may generate, for example, an image of a graph (see FIG. 4) and display it on the display 19.

[0025] Also, in the first embodiment, the controller 20 has been described by taking as an example the case where the local deterioration risk of the boom cylinder 9 is calculated based on the detection result of the boom angle sensor 16, the local deterioration risk of the arm cylinder 10 is calculated based on the detection result of the arm angle sensor 17, and the local deterioration risk of the bucket cylinder 11 is calculated based on the detection result of the bucket angle sensor 18, but it is not limited to this.

[0026] Although not shown, the excavator 1 may include a boom cylinder stroke sensor that detects the stroke position of the boom cylinder 9, an arm cylinder stroke sensor that detects the stroke position of the arm cylinder 10, and a bucket cylinder stroke sensor that detects the stroke position of the bucket cylinder 11. The boom cylinder stroke sensor, the arm cylinder stroke sensor, and the bucket cylinder stroke sensor correspond to displacement sensors that detect positions within the movable range of the actuator recited in the claims. In this modification, the controller 20 need not have a position calculation unit 21. The local deterioration risk calculation unit 22 of the controller 20 calculates the local deterioration risk of the boom cylinder 9 based on the detection result of the boom cylinder stroke sensor, calculates the local deterioration risk of the arm cylinder 10 based on the detection result of the arm cylinder stroke sensor, and calculates the local deterioration risk of the bucket cylinder 11 based on the detection result of the bucket cylinder stroke sensor.

[0027] As in the modification shown in FIG. 5, the excavator 1 may include boom cylinder pressure sensors 31A and 31B that respectively detect the bottom side pressure and the rod side pressure of the boom cylinder 9 as state quantities related to the load of the boom cylinder 9. The boom cylinder pressure sensors 31A and 31B correspond to load sensors that detect the load of the actuator recited in the claims. In this modification, the local deterioration risk calculation unit 22 of the controller 20 calculates the load of the boom cylinder 9 based on the detection results of the boom cylinder pressure sensors 31A and 31B at predetermined time intervals (for example, every few hundred milliseconds). Then, in each of the stroke sections 25A, 25B, and 25C, the value obtained by multiplying the operating time of the boom cylinder 9 by the load is accumulated, and the accumulated value is output as the local deterioration risk.

[0028] Further, the excavator 1 may include boom cylinder pressure sensors 32A and 32B that detect the bottom side pressure and the rod side pressure of the boom cylinder 10, respectively, as state quantities related to the load on the boom cylinder 10. Note that the boom cylinder pressure sensors 32A and 32B correspond to the load sensors that detect the load of the actuator described in the claims. In this modification, the local degradation risk calculation unit 22 of the controller 20 calculates the load on the boom cylinder 10 based on the detection results of the boom cylinder pressure sensors 32A and 32B at predetermined time intervals. Then, in each of the stroke sections 27A, 27B, and 27C, the value obtained by multiplying the operating time of the boom cylinder 10 by the load is accumulated, and the accumulated value is output as the local degradation risk.

[0029] Further, the excavator 1 may include bucket cylinder pressure sensors 33A and 33B that detect the bottom side pressure and the rod side pressure of the bucket cylinder 11, respectively, as state quantities related to the load on the bucket cylinder 11. Note that the bucket cylinder pressure sensors 33A and 33B correspond to the load sensors that detect the load of the actuator described in the claims. In this modification, the local degradation risk calculation unit 22 of the controller 20 calculates the load on the bucket cylinder 11 based on the detection results of the bucket cylinder pressure sensors 33A and 33B at predetermined time intervals. Then, in each of the stroke sections 29A, 29B, and 29C, the value obtained by multiplying the operating time of the bucket cylinder 11 by the load is accumulated, and the accumulated value is output as the local degradation risk.

[0030] Also, in the first embodiment, although not particularly described, the controller 20 may sum up the local deterioration risks of the boom cylinder 9 in the plurality of stroke sections 25A, 25B, 25C, and obtain the ratio of the summed value to a predetermined reference value (for example, a value serving as a maintenance or life standard) as the usage degree of the boom cylinder 9. Further, the local deterioration risks of the arm cylinder 10 in the plurality of stroke sections 27A, 27B, 27C may be summed up, and the ratio of the summed value to the predetermined reference value may be obtained as the usage degree of the arm cylinder 10. Also, the local deterioration risks of the bucket cylinder 11 in the plurality of stroke sections 29A, 29B, 29C may be summed up, and the ratio of the summed value to the predetermined reference value may be obtained as the usage degree of the bucket cylinder 11. Then, the usage degree of the boom cylinder 9, the usage degree of the arm cylinder 10, and the usage degree of the bucket cylinder 11 may be displayed on the display 19 together with, for example, the price of the boom cylinder 9, the price of the arm cylinder 10, and the price of the bucket cylinder 11.

[0031] A second embodiment of the present invention will be described with reference to the drawings. In this embodiment, parts equivalent to those in the above embodiment are denoted by the same reference numerals, and the description thereof will be omitted as appropriate.

[0032] FIG. 6 is a cross-sectional view showing the structure of the hydraulic pump in this embodiment.

[0033] The hydraulic pump 15 of this embodiment includes a drive shaft 35, a swash plate 36, an inclined shaft 37, a cylinder block 38, a valve plate 39, and a plurality of pistons 40 housed in a casing 34.

[0034] One end side (the right side in FIG. 6) of the drive shaft 35 is connected to the output shaft of the engine, and the other end side (the left side in FIG. 6) is connected to the swash plate 36. The inclined shaft 37 is provided at the center of the cylinder block 38 so as to rotate together with the cylinder block 38. Further, the inclined shaft 37 is arranged to be inclined with respect to the drive shaft 35, and one end side (the right side in FIG. 6) is connected to the swash plate 36. Thereby, the rotational force of the engine is transmitted, and the drive shaft 35, the swash plate 36, the inclined shaft 37, and the cylinder block 38 rotate.

[0035] The valve plate 39 is arranged on the side opposite to the rotating plate 36 (the left side in FIG. 6) with respect to the cylinder block 38 so as not to rotate together with the cylinder block 38. Further, although not shown, the valve plate 39 has a suction port and a discharge port that communicate with the suction passage and the discharge passage formed in the casing 34, respectively.

[0036] The plurality of pistons 40 are respectively inserted into a plurality of cylinder holes formed in the cylinder block 38, and one end side (the right side in FIG. 6) is connected to the rotating plate 36. Each piston 40 reciprocates in the cylinder hole as the rotating plate 36 and the cylinder block 38 rotate. When the piston 40 moves in a direction away from the valve plate 39, oil is sucked into the cylinder hole through the suction port of the valve plate 39 and the suction passage of the casing 34. Thereafter, when the piston 40 moves in a direction approaching the valve plate 39, oil is discharged from the cylinder hole through the discharge port of the valve plate 39 and the discharge passage of the casing 34.

[0037] The hydraulic pump 15 of the present embodiment is a variable displacement type and includes a tilting mechanism that varies the tilt angle θ of the swash plate 37 with respect to the drive shaft 35. More specifically, since one end side of the swash plate 37 and one end side of the plurality of pistons 40 are swingably connected to the rotating plate 36, the swash plate 37, the plurality of pistons 40, and the cylinder block 38 are swingable. The other end side of the swash plate 37 (the left side in FIG. 6) is inserted into the through hole of the valve plate 39, and the valve plate 39 is arranged slidably along the wall surface, so that the valve plate 39 is slidable integrally with the swash plate 37 and the like. The valve plate 39, the swash plate 37, and the like swing by the stroke of the tilting cylinder 41 (specifically, the movement of the piston linked to the valve plate 39). Thereby, the tilt angle θ of the swash plate 37 varies.

[0038] The excavator 1 of the present embodiment is equipped with a local deterioration risk evaluation device that evaluates the risk of local deterioration of the tilting cylinder 41 of the hydraulic pump 15. FIG. 7 is a block diagram showing the configuration of the local deterioration risk evaluation device in the present embodiment.

[0039] The local deterioration risk assessment device of this embodiment includes an inclination angle sensor 42 that detects the inclination angle θ of the swash axis 37 that changes according to the stroke position of the tilting cylinder 41, a display 19, and a controller 20. Note that the tilting cylinder 41 corresponds to an actuator that drives a working device by an operation within the movable range described in the claims. The inclination angle sensor 42 corresponds to a displacement sensor that detects the position within the movable range of the actuator described in the claims.

[0040] The controller 20 stores in advance a plurality of stroke sections (movable sections) 44A, 44B, 44C (see FIG. 8) into which the stroke range (movable range) 43 of the tilting cylinder 41 is divided. The position calculation unit 21 of the controller 20 calculates the stroke position of the tilting cylinder 41 (specifically, the movable position of the piston based on one end of the cylinder as a reference) at a predetermined time interval (for example, every several hundred ms) based on the inclination angle θ of the swash axis 37 detected by the inclination angle sensor 42. The local deterioration risk calculation unit 22 of the controller 20 determines in which of the plurality of stroke sections 44A, 44B, 44C the stroke position of the tilting cylinder 41 is located, and using a timer, accumulates the operation time of the tilting cylinder 41 in each of the stroke sections 44A, 44B, 44C, and acquires the accumulated value as the local deterioration risk.

[0041] The image generation unit 23 of the controller 20 generates an image 45 of a hydraulic pump (see FIG. 8) according to the input of an input device or periodically (for example, every day) and displays it on the display 19. The image 45 schematically shows the stroke sections 44A, 44B, 44C of the tilting cylinder 41 in the hydraulic pump 15, and shows the local deterioration risk in each stroke section in terms of hue, lightness, or saturation.

[0042] As described above, in this embodiment, the local deterioration risk of the tilting cylinder 41 of the hydraulic pump 15 can be presented to the driver. Thereby, the driver can plan the maintenance timing of the hydraulic pump 15. Also, the driver can consider the usage method of the hydraulic pump 15.

[0043] In addition, in the second embodiment, the case where the controller 20 generates an image 45 of the hydraulic pump as a calculation result and causes the display 19 to display it has been described as an example, but the present invention is not limited thereto. For example, the controller 20 may generate an image of a graph (see FIG. 9) and cause the display 19 to display it.

[0044] Also, in the second embodiment, the case where the controller 20 calculates the local deterioration risk of the tilting cylinder 41 based on the detection result of the tilt angle sensor 42 has been described as an example, but the present invention is not limited thereto. Although not shown, the excavator 1 may be provided with a tilting cylinder stroke sensor that detects the stroke position of the tilting cylinder 41 of the hydraulic pump 15. The tilting cylinder stroke sensor corresponds to a displacement sensor that detects the position within the movable range of the actuator described in the claims. In this modification, the controller 20 does not need to have the position calculation unit 21. The local deterioration risk calculation unit 22 of the controller 20 calculates the local deterioration risk of the tilting cylinder 41 based on the detection result of the tilting cylinder stroke sensor.

[0045] Also, as in the modification shown in FIG. 10, the excavator 1 may be provided with a discharge pressure sensor 46 that detects the discharge pressure of the hydraulic pump 15 as a state quantity related to the load of the tilting cylinder 41 of the hydraulic pump 15. The discharge pressure sensor 46 corresponds to a load sensor that detects the load of the actuator described in the claims. In this modification, the local deterioration risk calculation unit 22 of the controller 20 calculates the load of the tilting cylinder 41 based on the detection result of the discharge pressure sensor 46 at predetermined time intervals (for example, every several hundred ms). Then, in each of the stroke sections 44A, 44B, and 44C, the value obtained by multiplying the operation time and the load of the tilting cylinder 41 is accumulated, and the accumulated value is output as the local deterioration risk.

[0046] Also, in the second embodiment, although not particularly described, the controller 20 may total the local deterioration risks of the tilting cylinder 41 in the plurality of stroke sections 44A, 44B, 44C, and obtain the ratio of the totaled value to a predetermined reference value (for example, a value serving as a maintenance or life standard) as the usage degree of the hydraulic pump 15. Then, the usage degree of the hydraulic pump 15 may be displayed on the display 19 together with, for example, the price of the hydraulic pump 15.

[0047] Also, in the second embodiment, the case where the hydraulic pump 15 includes a swash shaft 37 arranged to be inclined with respect to the drive shaft 35 and a tilting cylinder 41 for varying the inclination angle of the swash shaft 37 has been described as an example, but the present invention is not limited thereto. The hydraulic pump 15 may include a swash plate (rotating plate) arranged to be inclined with respect to the drive shaft and a tilting cylinder for varying the inclination angle of the swash plate. In this case, the excavator 1 may be provided with a tilting cylinder stroke sensor for detecting the stroke position of the tilting cylinder or an inclination angle sensor for detecting the inclination angle of the swash plate that changes according to the stroke position of the tilting cylinder.

[0048] A third embodiment of the present invention will be described with reference to the drawings. In this embodiment, parts equivalent to those in the above embodiments are denoted by the same reference numerals, and the description will be omitted as appropriate.

[0049] FIG. 11 is a cross-sectional view showing the structure of the slewing device in this embodiment, and FIG. 12 is a cross-sectional view taken along the arrow XII-XII in FIG. 1.

[0050] The slewing device 5 of this embodiment includes a slewing ring 47 that rotatably supports the upper slewing body 3 with respect to the lower traveling body 2. The slewing ring 47 includes an inner ring 48 fixed to the lower traveling body 2, an outer ring 49 arranged on the outer peripheral side of the inner ring 48 and fixed to the slewing frame 12 of the upper slewing body 3, and a plurality of rolling elements 50 provided between the inner ring 48 and the outer ring 49. An internal gear 51 is formed on the inner peripheral side of the inner ring 48.

[0051] The slewing device 5 further includes a slewing motor 52 attached to the slewing frame 12 side of the upper slewing structure 3, a speed reducer 53 for adjusting the rotational force of the slewing motor 52, and a pinion 54 that rotates by the rotational force of the slewing motor 52 adjusted by the speed reducer 53. When the pinion 54 rotates, the pinion 54 moves along the internal gear 51 of the inner ring 48, the slewing motor 52 and the speed reducer 53 move together with the pinion 54, and the outer ring 49 rotates. As a result, the upper slewing structure 3 is slewed.

[0052] The excavator 1 of the present embodiment is equipped with a local deterioration risk evaluation device for evaluating the local deterioration risk of the slewing device 5. FIG. 13 is a block diagram showing the configuration of the local deterioration risk evaluation device in the present embodiment.

[0053] The local deterioration risk evaluation device of the present embodiment includes a slewing angle sensor 55 for detecting the slewing angle of the upper slewing structure 3 (specifically, the orientation of the working device 4 based on the forward direction of the lower traveling structure 2), a display 19, and a controller 20A. Note that the slewing device 5 corresponds to an actuator that drives the working device by an operation within the movable range described in the claims. The slewing angle sensor 55 corresponds to a displacement sensor that detects the position within the movable range of the actuator described in the claims.

[0054] The controller 20A stores in advance a plurality of slewing sections (movable sections) 57A, 57B, 57C, 57D (see FIG. 14) into which the slewing range (movable range) 56 of the slewing device 5 is divided.

[0055] The controller 20A has a local deterioration risk calculation unit 22 and an image generation unit 23. The local deterioration risk calculation unit 22 of the controller 20A determines, at a predetermined time interval (for example, every several hundred ms), which of the plurality of slewing sections 57A, 57B, 57C, 57D the slewing angle of the upper slewing structure 3 detected by the slewing angle sensor 55 is in, and uses a timer to accumulate the residence time of the working device 4 in each of the slewing sections 57A, 57B, 57C, 57D, and obtains the accumulated value as the local deterioration risk.

[0056] The image generation unit 23 of the controller 20A generates an image 58 of the excavator (see FIG. 14) in response to the input of the input device or periodically (for example, every day), and causes the display 19 to display it. The image 58 schematically shows the turning sections 57A, 57B, 57C, and 57D of the slewing device 5 in the excavator 1, and shows the local deterioration risk in each turning section in terms of hue, lightness, or saturation.

[0057] As described above, in the present embodiment, the local deterioration risk of the slewing device 5 can be presented to the driver. Thereby, the driver can plan the maintenance timing of the slewing device 5. In addition, the driver can consider the usage method of the slewing device 5.

[0058] In the third embodiment, the case where the controller 20A generates an image 58 of the excavator as a calculation result and causes the display 19 to display it has been described as an example, but the present invention is not limited to this. The controller 20A may generate, for example, an image of a graph (see FIG. 15) and cause the display 19 to display it.

[0059] In the third embodiment, the case where the controller 20A calculates the local deterioration risk of the slewing device 5 based on the detection result of the slewing angle sensor 55 has been described as an example, but the present invention is not limited to this. As in the modified example shown in FIG. 16, the excavator 1 may include a boom cylinder pressure sensor 31A that detects the bottom side pressure of the boom cylinder 9 as a state quantity related to the load of the slewing device 5. The boom cylinder pressure sensor 31A corresponds to a load sensor that detects the load of the actuator described in the claims. In this modified example, the local deterioration risk calculation unit 22 of the controller 20A calculates the load of the slewing device 5 (in other words, the load of the working device 4) based on the detection result of the boom cylinder pressure sensor 31A at a predetermined time interval (for example, every several hundred ms). Then, in each of the turning sections 57A, 57B, 57C, and 57D, the value obtained by multiplying the staying time of the working device 4 by the load is accumulated, and the accumulated value is output as the local deterioration risk.

[0060] Also, in the third embodiment, although not particularly described, the controller 20A may total the local deterioration risks of the turning device 5 in the plurality of turning sections 57A, 57B, 57C, 57D, and obtain the ratio of the totaled value to a predetermined reference value (for example, a value serving as a maintenance or life standard) as the usage degree of the turning device 5. Then, the usage degree of the turning device 5 may be displayed on the display 19 together with, for example, the price of the turning device 5.

[0061] Needless to say, any combination of the first to third embodiments may also be used.

[0062] A fourth embodiment of the present invention will be described with reference to the drawings. In this embodiment, parts equivalent to those in the first embodiment are denoted by the same reference numerals, and the description thereof will be omitted as appropriate.

[0063] FIG. 16 is a diagram showing the configuration of the management system in this embodiment.

[0064] The management system of this embodiment includes a plurality of (only one is shown for convenience in FIG. 16) excavators 1 and a management device 61 that acquires and manages information from each excavator 1 via communication devices 60A, 60B. The management device 61 includes a display 62 (monitor) and a computer 63. Note that the controller of the excavator 1 does not necessarily have the function of calculating the local deterioration risk described in the above embodiment.

[0065] The computer 63 of the management device 61 acquires the detection results (for example, data detected every several hundred ms) of the boom angle sensor 16, arm angle sensor 17, and bucket angle sensor 18 of the excavator 1 via the communication devices 60A, 60B. Similar to the controller 20 in the first embodiment, the computer 63 has a position calculation unit 21, a local deterioration risk calculation unit 22, and an image generation unit 23.

[0066] The position calculation unit 21 of the computer 63 calculates the stroke positions of the boom cylinder 9, the arm cylinder 10, and the bucket cylinder 11 based on the detection results of the boom angle sensor 16, the arm angle sensor 17, and the bucket angle sensor 18, respectively.

[0067] The local deterioration risk calculation unit 22 of the computer 63 calculates the local deterioration risk of the boom cylinder 9, the local deterioration risk of the arm cylinder 10, and the local deterioration risk of the bucket cylinder 11 based on the stroke positions of the boom cylinder 9, the arm cylinder 10, and the bucket cylinder 11, respectively.

[0068] The image generation unit 23 of the computer 63 generates an image 30 of the working device of the excavator according to the input of an input device such as a switch (not shown) or periodically (for example, every day), and displays it on the display 62. The image 30 schematically shows the stroke sections 25A, 25B, 25C of the boom cylinder 9, the stroke sections 27A, 27B, 27C of the arm cylinder 10, and the stroke sections 29A, 29B, 29C of the bucket cylinder 11 in the working device 4 of the excavator 1, and shows the local deterioration risk in each stroke section by hue, lightness, or saturation.

[0069] As described above, in the present embodiment, the local deterioration risk of the boom cylinder 9, the local deterioration risk of the arm cylinder 10, and the local deterioration risk of the bucket cylinder 11 can be presented to the administrator. Thereby, the administrator can plan the maintenance timing of the boom cylinder 9, the arm cylinder 10, and the bucket cylinder 11. In addition, the administrator can consider the usage methods of the boom cylinder 9, the arm cylinder 10, and the bucket cylinder 11. That is, for example, the administrator can consider changing the working location of the excavator 1 in a mine or the like.

[0070] In addition, in the fourth embodiment, although not particularly described, each excavator 1 may be provided with a positioning device (not shown) that measures the position or orientation of the own machine. This positioning device has, for example, an antenna that receives signals from satellites and measures the position or orientation of the own machine based on the signals from the satellites. In this modification, the computer 63 of the management device 61 acquires information on the positions or orientations of the plurality of excavators 1 via the communication devices 60A and 60B, and groups the plurality of excavators 1 according to a predetermined condition (for example, a condition that the distance between the excavators 1 is within a predetermined range, or a condition that the orientation of the excavator 1 is within a predetermined range).

[0071] The local deterioration risk calculation unit 22 of the computer 63 calculates, for each group, the average value of the local deterioration risk of the boom cylinder 9 in the stroke section 25A, the average value of the local deterioration risk of the boom cylinder 9 in the stroke section 25B, and the average value of the local deterioration risk of the boom cylinder 9 in the stroke section 25C. Also, for each group, the average value of the local deterioration risk of the arm cylinder 10 in the stroke section 27A, the average value of the local deterioration risk of the arm cylinder 10 in the stroke section 27B, and the average value of the local deterioration risk of the arm cylinder 10 in the stroke section 27C are calculated. Further, for each group, the average value of the local deterioration risk of the bucket cylinder 11 in the stroke section 29A, the average value of the local deterioration risk of the bucket cylinder 11 in the stroke section 29B, and the average value of the local deterioration risk of the bucket cylinder 11 in the stroke section 29C are calculated.

[0072] The image generation unit 23 of the computer 63 generates a map image 65 (see FIG. 18) that shows the information on the positions or orientations of the plurality of excavators 1 and also shows the excavator group 64, and causes the display 62 to display it. Also, in response to an input from the input device, any one of the plurality of groups 64 on the map image 65 can be selected.

[0073] The image generation unit 23 of the computer 63 generates an image 30A (see FIG. 18) of the working device of the excavator and causes it to be displayed on the display 62. The image 30A schematically shows the stroke sections 25A, 25B, 25C of the boom cylinder 9, the stroke sections 27A, 27B, 27C of the arm cylinder 10, and the stroke sections 29A, 29B, 29C of the bucket cylinder 11 in the working device 4 of the excavator 1 with respect to the group 64 selected on the map image 65, and shows the average value of the local deterioration risk in each stroke section in terms of hue, lightness, or saturation.

[0074] In the fourth embodiment, although there is a difference between the controller 20 of the excavator 1 and the computer 63 of the management device 61, the description has been given by taking as an example the case of having the same configuration and functions as in the first embodiment, but it is not limited to this. It is possible to make modifications in the same manner as the above-described modification examples for the first embodiment.

[0075] Also, the fourth embodiment and the above-described modification examples thereof may be modified to have the same configuration and functions as in the second embodiment, although there is a difference between the controller 20 of the excavator 1 and the computer 63 of the management device 61. More specifically, the computer 63 of the management device 61 acquires the detection result of the inclination angle sensor 42 of the excavator 1 via the communication devices 60A, 60B. The position calculation unit 21 of the computer 63 calculates the stroke position of the tilting cylinder 41 of the hydraulic pump 15 based on the detection result of the inclination angle sensor 42. The local deterioration risk calculation unit 22 of the computer 63 calculates the local deterioration risk of the tilting cylinder 41 based on the stroke position of the tilting cylinder 41. The image generation unit 23 of the computer 63 generates, for example, an image 45 of the hydraulic pump and causes it to be displayed on the display 62. It is also possible to make further modifications in the same manner as the above-described modification examples for the second embodiment.

[0076] Also, although there are differences between the fourth embodiment and the above-described modification thereof with respect to the controller 20A of the excavator 1 and the computer 63 of the management device 61, they may be modified to have the same configuration and functions as those of the third embodiment. More specifically, the computer 63 of the management device 61 acquires the detection result of the swing angle sensor 55 of the excavator 1 via the communication devices 60A and 60B. The local deterioration risk calculation unit 22 of the computer 63 calculates the local deterioration risk of the swing device 5 based on the detection result of the swing angle sensor 55. The image generation unit 23 of the computer 63 generates, for example, an image 58 of the excavator and displays it on the display 62. Note that, similar to the above-described modification of the third embodiment, further modifications are also possible.

[0077] In the above, the excavator 1 has been described as an example of the working machine to which the present invention is applied, but the present invention is not limited thereto. The present invention may be applied to working machines other than excavators. Also, as the actuator to which the present invention is applied, the boom cylinder 9 (hydraulic cylinder), the arm cylinder 10 (hydraulic cylinder), the bucket cylinder 11 (hydraulic cylinder), the tilting cylinder 41 of the hydraulic pump 15, and the swing device 5 have been described as examples, but the present invention is not limited thereto. The present invention may be applied to actuators other than hydraulic cylinders, the tilting cylinder of a hydraulic pump, and swing devices.

Explanation of Reference Numerals

[0078] 1 Excavator 2 Lower Traveling Body 3 Upper Swing Body 5 Swing Device 6 Boom 7 Arm 8 Bucket 9 Boom Cylinder 10 Arm Cylinder 11 Bucket Cylinder 15 Hydraulic Pump 16 Boom Angle Sensor 17 Arm Angle Sensor 18 Bucket Angle Sensor 19 Display 20,20A Controller 24 Stroke Area 25A,25B,25C Stroke Intervals 26 Stroke Area 27A,27B,27C Stroke Intervals 28 Stroke Area 29A,29B,29C Stroke Intervals 30,30A Images 31A,31B Boom Cylinder Pressure Sensors 32A,32B Arm Cylinder Pressure Sensors 33A,33B Bucket Cylinder Pressure Sensors 37 Oblique Axis 41 Tipping Cylinder 42 Tilt Angle Sensor 43 Stroke Area 44A,44B,44C Stroke Intervals 45 Images 46 Discharge Pressure Sensor 55 Swivel Angle Sensor 56 Swivel Area 57A,57B,57C,57D Swivel Intervals 58 Images 60A,60B Communication Devices 61 Management Device 62 Display 63 Computer

Claims

1. An actuator that drives a working device by operation within a movable range, A displacement sensor that detects the position of the actuator within the movable range, The movable range of the actuator is divided into a plurality of movable sections, and based on the detection result of the displacement sensor, the operation time of the actuator in each of the plurality of movable sections is calculated, and by doing so, a controller that calculates the local deterioration risk for each of the plurality of movable sections of the actuator, A working machine comprising a display that displays the local deterioration risk of the actuator calculated by the controller.

2. In the working machine according to Claim 1, The controller generates an image that schematically shows the plurality of movable sections in the working machine or the actuator, and shows the local deterioration risk of the actuator in each of the plurality of movable sections in terms of hue, lightness, or saturation, and causes the image to be displayed on the display.

3. In the working machine according to Claim 1, Further comprising a load sensor that detects the load of the actuator, The controller accumulates values calculated based on the operation time and load of the actuator in each of the plurality of movable sections based on the detection results of the displacement sensor and the load sensor, and outputs the accumulated values as the local deterioration risk.

4. In the working machine according to Claim 1, The controller sums up the local deterioration risks of the actuator in the plurality of movable sections, obtains the ratio of the summed value to a predetermined reference value as the usage degree of the actuator, and causes the usage degree of the actuator to be displayed on the display.

5. In the working machine according to Claim 1, The working device includes a boom, an arm, and a bucket. The actuator is a hydraulic cylinder that rotates the boom, the arm, and the bucket respectively. The displacement sensor detects the stroke position of the hydraulic cylinder or the rotation angles of the boom, the arm, and the bucket that change according to the stroke position. The controller divides the stroke range of the hydraulic cylinder into a plurality of stroke sections, and calculates the operation time of the hydraulic cylinder in each of the plurality of stroke sections based on the detection result of the displacement sensor, thereby calculating the local deterioration risk for each of the plurality of stroke sections of the hydraulic cylinder. A working machine characterized by this.

6. In the working machine according to claim 1, The actuator is a tilting cylinder that varies the tilt angle of the swash plate or swash block of a hydraulic pump that supplies pressure oil to a hydraulic cylinder that drives the working device. The displacement sensor detects the stroke position of the tilting cylinder or the tilt angle of the swash plate or swash block that changes according to the stroke position. The controller divides the stroke range of the tilting cylinder into a plurality of stroke sections, and calculates the operation time of the tilting cylinder in each of the plurality of stroke sections based on the detection result of the displacement sensor, thereby calculating the local deterioration risk for each of the plurality of stroke sections of the tilting cylinder. A working machine characterized by this.

7. In the working machine according to claim 1, It has a self - propelled lower traveling body and an upper revolving body that is rotatably supported with respect to the lower traveling body. The actuator is a slewing device that slews the upper revolving body with respect to the lower traveling body. The displacement sensor detects the slewing angle of the upper revolving body. The controller divides the turning range of the turning device into a plurality of turning sections, and calculates the operation time of the turning device in each of the plurality of turning sections based on the detection result of the displacement sensor, thereby calculating the local deterioration risk for each of the plurality of turning sections of the turning device. The working machine is characterized by this.

8. A management device for a working machine having an actuator that drives a working device by an operation within a movable range and a displacement sensor that detects the position of the actuator within the movable range, obtains a detection result of the position of the actuator within the movable range from the displacement sensor of the working machine, divides the movable range of the actuator into a plurality of movable sections, and calculates the operation time of the actuator in each of the plurality of movable sections based on the detection result, thereby calculating the local deterioration risk for each of the plurality of movable sections of the actuator; and a computer and a display for displaying the calculation result of the computer. The computer generates an image that schematically shows the plurality of movable sections in the working machine or the actuator, and shows the local deterioration risk of the actuator in each of the plurality of movable sections in terms of hue, lightness, or saturation, and causes the display to display the image. The management device is characterized by this.

9. In the management device according to claim 8, the computer obtains information on the position or orientation of the plurality of working machines and the detection results of the displacement sensors of the plurality of working machines from the plurality of working machines, divides the plurality of working machines into groups, and calculates the average value of the local deterioration risks of the actuator in each of the plurality of movable sections for each group. For each of the plurality of working machines or the actuators, an image is generated that schematically shows the plurality of movable sections and shows the average value of the local deterioration risks of the actuator in each of the plurality of movable sections for the selected group in terms of hue, lightness, or saturation, and the image is caused to be displayed on the display. The management device is characterized by this.

Images